12/10/2007

Bi Th Duy - B mn KHMT
1

h
h

a
a
m
m

y
y
t
t

nh
nh

ng
ng
cong
cong
v
v

b
b

m
m

t
t
I
I
12/10/2007
Bi Th Duy - B mn KHMT
2
C
C

c
c
lo
lo

i
i

ng
ng
cong
cong
ng thng ng trn
Chnh tc:
y = mx + b r = A
r
x + B
r
y + C
r
Tng qut:
Ax + By + C = 0 (x x
0
)
2
+ (y y
0
)
2
r
2
= 0
Tham s:
x = x
0
+ (x
1
x
0
)t x = x
0
+ rcos
y = y
0
+ (y
1
y
0
)t y = y
0
+ rsin
12/10/2007
Bi Th Duy - B mn KHMT
3
T
T

i
i
sao
sao
l
l

i
i
d
d

ng
ng
tham
tham
s
s

?
?
Cc ng cong tham s rt linh hot.
Chng khng cn phi l hm
ng cong c th c nhiu gi tr ng vi mt ta
x.
S lng tham s thng cho
thy chiu ca vt th
(x(u,v), y(u,v), z(u,v))
12/10/2007
Bi Th Duy - B mn KHMT
4
M
M
t
t

m
m

t
t

ng
ng
cong
cong
im iu khin:
L tp cc im nh hng n hnh
dng ca ng cong.
Knots:
Cc im nm trn ng cong.
ng cong ni suy (Interpolating
spline):
Cc on cong i qua im iu khin.
ng cong xp x (Approximating
spline):
Cc im iu khin nh hng n
hnh dng ca on
12/10/2007
Bi Th Duy - B mn KHMT
5
C
C

c
c
o
o

n
n
cong
cong
Chng ta c th biu din mt ng cong vi di bt k
bng mt chui cc on cong ni vi nhau.
Chng ta quan tm n cc on ny ni vi nhau nh th no

12/10/2007
Bi Th Duy - B mn KHMT
6

ng
ng
cong
cong
tham
tham
s
s

b
b

c
c
3
3
(Parametric Cubic Curves)
(Parametric Cubic Curves)
m bo tnh lin tc C
2
cc hm ca chng ta phi c
bc t nht l 3.
ng cong cubic c 4 bc t do v thay i 4 th.
S dng thc: x(t) c bc n l mt hm ca t. - y(t) v
z(t) cng tng t v c x l c lp.
C ngha l:
i
n
i
i
x a t x

=
=
0
) (
12/10/2007
Bi Th Duy - B mn KHMT
7
M
M

t
t
v
v

d
d

Ton b cc vn lin quan n ng cong tham s

chnh l xc nh cc h s ca n.
lm c iu , chng ta xc nh cc gi tr
tha mn cc iu kin ca cc knots v cc iu kin
lin tc.
V d:
Cubic Hermite Splines
12/10/2007
Bi Th Duy - B mn KHMT
8

ng
ng
cong
cong
Hermite
Hermite
4 bc t do, 2 iu khin tnh lin tc C
0
v C
1
ti mi u.
S dng a thc biu din ng cong.
Xc nh: x = X(t) theo cc gi tr x
0
, x
0
/
,
x
1
, x
1
/
By gi:
X(t) = a
3
t
3
+ a
2
t
2
+ a
1
t + a
0
v X
/
(t) = 3a
3
t
2
+ 2a
2
t + a
1
12/10/2007
Bi Th Duy - B mn KHMT
9
T
T

m
m
c
c

c
c
h
h

s
s

Hermite
Hermite
Thay t vo hai u:
x
0
= X(0) = a
0
x
0
/
= X
/
(0) = a
1
x
1
= X(1) = a
3
+ a
2
+ a
1
+ a
0
x
1
/
= X
/
(1) = 3a
3
+ 2a
2
+ a
1
V li gii l:
a
0
= x
0
a
1
= x
0
/
a
2
= -3x
0
2x
0
/
+ 3x
1
x
1
/
a
3
= 2x
0
+ x
0
/
- 2x
1
+ x
1
/
12/10/2007
Bi Th Duy - B mn KHMT
10
Ma
Ma
tr
tr

n
n
Hermite
Hermite
: M
: M
H
H
a thc kt qu c th c biu din qua dng ma trn:
X(t) = t
T
M
H
q ( q l vc-t iu khin)
[ ]

=
/
1
1
/
0
0
2 3
0 0 0 1
0 0 1 0
1 3 2 3
1 2 1 2
1 ) (
x
x
x
x
t t t t X
By gi chng ta c th nh ngha a gic tham s cho cc
ta mt cch c lp X(t), Y(t) v Z(t)
12/10/2007
Bi Th Duy - B mn KHMT
11
C
C

c
c
h
h

m
m
Hermite
Hermite
c
c
b
b

n
n
x
0
x
1
x
0
/
x
1
/
th cho thy hnh dng ca bn
hm c bn (hay cn gi l
blending functions).
Chng c gn nhn vi thnh
phn trng s ca n.
12/10/2007
Bi Th Duy - B mn KHMT
12
H
H

c
c

c
c

ng
ng
cong
cong
Hermite
Hermite
y(t)
x(t)
12/10/2007
Bi Th Duy - B mn KHMT
13
Hi
Hi

n
n
th
th

c
c

c
c

ng
ng
cong
cong
Hermite
Hermite
n gin :
Lp qua t chn n v lp ph hp.
Tnh gi tr x.
V y & z mt cch c lp.
V cc on ni lin cc im.
Ni cc on:
Cc im u mt trng nhau c
lin tc C
0
Vc t php tuyn trng nhau c
lin tc C
1
.
12/10/2007
Bi Th Duy - B mn KHMT
14

ng
ng
cong
cong
B
B

zier
zier
ng cong Hermite kh m hnh ha cn
phi xc nh cc im v vc-t php tuyn.
S d dng hn khi ch cn ch ra im.
Pierre Bzier xc nh 2 im u mt v 2 im
iu khin xc nh vc-t php tuyn.
C th tnh ra t ma trn Hermite:
Hai im iu khin xc nh vec-t php tuyn
12/10/2007
Bi Th Duy - B mn KHMT
15

ng
ng
cong
cong
B
B

zier
zier
P
4
P
2
P
1
P
1
P
4
P
3
P
3
P
2
12/10/2007
Bi Th Duy - B mn KHMT
16
Ma
Ma
tr
tr

n
n
B
B

zier
zier
Trc ht chng ta phi xc nh cc hm c bn.
Cho mt a thc bc n, chng ta c n im iu khin vi cc
thnh phn cho n t
n-1
nh sau:
f
r
l hm c bn
H s ca t
r
theo khi trin ca (t+(1-t))
n-1
r
n
r
r
q f t X

=
=
1
0
) (
)! 1 ( !
)! 1 (
) 1 (
1 1
1
1

= =

r n r
n
C where t t C f
r
n r n r
r n
n
r
12/10/2007
Bi Th Duy - B mn KHMT
17
Ma
Ma
tr
tr

n
n
B
B

zier
zier
X(t) = t
T
M
B
q (M
B
l ma trn Bzier)
Vi n=4 v r=0,1,2,3 ta c:
Tng t vi Y(t) v Z(t)
[ ]

=
3
2
1
0
2 3
0 0 0 1
0 0 3 3
0 3 6 3
1 3 3 1
1 ) (
q
q
q
q
t t t t X
12/10/2007
Bi Th Duy - B mn KHMT
18
H
H

m
m
c
c
b
b

n
n
B
B

zier
zier
q
0
q
3
q
1
q
2
12/10/2007
Bi Th Duy - B mn KHMT
19
V
V

d
d

v
v

c
c

c
c

ng
ng
cong
cong
n
n

i
i
suy
suy
ng cong Catmull-Rom ni suy qua cc im iu khin.
Vct php tuyn phi trng ti cc im iu khin.

=
=

i
i
i
i
B CR
i
P
P
P
P
T
G M T t P
1
2
3
0 0 2 0
0 1 0 1
1 4 5 2
1 3 3 1
2
1
) (
12/10/2007
Bi Th Duy - B mn KHMT
20
C
C

c
c

ng
ng
cong B
cong B
-
-
Splines
Splines
Cc ng cong Cubic Bzier c ghp
vi nhau cng ging nh cc ng cong
Hermite thng qua vic m bo lin
tc C
0
v C
1
.
Cc ng cong B-Splines c th c s
im iu khin ty vi di bt k v
c tnh lin tc C
0
, C
1
v C
2
.
12/10/2007
Bi Th Duy - B mn KHMT
21
o
o

n
n
B
B
-
-
Spline
Spline
trng
trng
nh
nh
th
th

n
n

o
o
t
0
t
1
t
2
t
3
t
4
1
12/10/2007
Bi Th Duy - B mn KHMT
22
H
H

m
m
B
B
-
-
Spline
Spline
c
c
b
b

n
n
t
1
1/6
4/6
f(t)
12/10/2007
Bi Th Duy - B mn KHMT
23
C
C

c
c

ng
ng
cong B
cong B
-
-
Spline
Spline
Knot.
Control point.
m = 9 (P
0
..P
9
)
m-1 knots
m+1 control points
m-2 curve segments
12/10/2007
Bi Th Duy - B mn KHMT
24
C
C

c
c

ng
ng
cong B
cong B
-
-
Spline
Spline
Knot.
Control point.
P1
P2
P3
P0
Q
3
12/10/2007
Bi Th Duy - B mn KHMT
25
C
C

c
c

ng
ng
cong B
cong B
-
-
Spline
Spline
Knot.
Control point.
Q
4
P1
P3
P4
P2
12/10/2007
Bi Th Duy - B mn KHMT
26
T
T

ng
ng
k
k

t
t
Cc ng cong bc 3
Cc ng cong B-splines